Am 25.04.2012 um 17:14 schrieb andy pugh: > On 25 April 2012 15:44, Kenneth Lerman <[email protected]> wrote: > >> A new HAL component could connect to N jog inputs (one for each axis). >> In feed hold mode, the joggers would become active. The new component >> would pass the jogs as offsets to the various axes and *memorize* the >> jogs in the order that they occurred.
that's neat and really simple to do; it is in fact a simplification of what I currently have I'd assume the positions reported/given would be cartesian poses, not the axis.N. joint space > > It would need to know the accel, velocity and position limits for the > axes too, and perform at least simple trajectory control. the limits are 'handed down' from task into motion by messages, and could easily be passed on through HAL > >> Since memory is cheap, an arbitrary path could be memorized at >> little cost. > > I don't think that recording the path is necessarily easy either. A > decision would need to be made on whether to record timewise or > distance-wise. In the former case you use memory indefinitely. In the > latter case, how to choose resolution? well if ALL that's needed is recording a couple of moves and jogs, that's hard to beat in simplicity but that probably covers what most folks want (speak up!) except for tool offset and touchoff (see earlier message on that) > > I don't think kernel memory is all that cheap either, and the > component would have to kmalloc the correct amount ahead of time. I dont see a compelling reason for such a component to be in-kernel, IMO you can do the jogger plus recorder/replayer in a Gladevcp panel; it is not RT critical in which case the limits can be read from the ini file bonus show effect: hit feed hold -> jog-while-paused panel raised ;) - Michael ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
